CN102077057A

CN102077057A - Automatic transport loading system and method

Info

Publication number: CN102077057A
Application number: CN2009801248228A
Authority: CN
Inventors: 杰拉尔德·爱德华·齐尔森; 韦恩·大卫·罗斯
Original assignee: Jervis B Webb International Co
Current assignee: Jervis B Webb International Co
Priority date: 2008-04-28
Filing date: 2009-04-28
Publication date: 2011-05-25
Also published as: JP2011519800A; WO2009134739A1; US20100266381A1; CA2760225A1; EP2271895A4; AU2009241376A1; EP2271895A1; US8210791B2; MX2010011942A

Abstract

A method and system for automatically loading and unloading a transport is disclosed. A guidance system follows a travel path to a position near the transport and then a sensor profiles a transport so that a transport path is determined for an AGV to follow into the transport to place a load and for exiting the transport upon placement of the load.

Description

Automatic motor vehicle load system and method thereof

The cross-like part of related application is quoted

This PCT application requires to enjoy the right of priority that the name of submitting on April 28th, 2008 is called No. the 12/110615th, the U.S. Patent application of " Automatic Transport Loading System And Method " (motor vehicle load system and method automatically), and the full content of this application is considered to the part of teachings herein and by with reference to its full content is incorporated among the application.

Technical field

The present invention relates generally to materials handling vehicle, relate in particular to a kind of like this automatic guided vehicle, even the relative loading pocket of means of transport (transport) base plate (loading bay) or between means of transport base plate and loading pocket base plate, extend to the base plate vertical shift of access ramp (dock ramp) or at angle, this automatic guided vehicle is loading and unloading means of transport automatically also, comprises with least interference loading and unloading and the approaching load of means of transport afterbody.

Background technology

(automatic guided vehicle, use AGV) spreads all over the material handling industry and is used for traffic load automatic guided vehicle.Term AGV generally is used to refer to the durability vehicle design with a plurality of available automatic guidance systems of any kind.(but automatic guided cart is generally to be used to refer to the term that is used for similar design uses the lower low durability vehicle of complexity AGC) to the homing guidance dolly.The present invention (comprises claims) from the beginning to the end, and term AGV refers to AGV and AGC and comprises the two, and any other vehicle of homing guidance.

Current light-duty AGV design generally includes a body (frame), and the seat body has the rotation castor (swivel castor) that is positioned at its place, four angles.The direction-caster (rigid castor) that further feature may comprise drive wheel assemblies and be used for control dolly on direction.In a current design, two direction-casters are fixed to a body, and two direction-casters are similar to the centre between a plurality of rotation castors of each side of dolly seat body.Two pairs of rotations caster axle and direction-caster axles are generally parallel to each other.General be attached on one's body the little vehicle seat, to guarantee to drive driving wheel and the enough tractive force of stayed surface maintenance by driving driver element with the plate (plate) of hinge and loading spring from dolly seat body dress.In another embodiment, the fixed drive wheel promotes AGV, can drive castor and guide moving of AGV.Heavy AGV design generally includes heavy seat body and at least three wheels, and wherein at least one wheel is a driving wheel, and at least one wheel is the steering wheel (steering wheel) that is guided by guidance system.A plurality of AGV designs in these AGV design with existing be used for make or the vehicle of distribution environments moving load similar, but the former is for homing guidance.

AGV comprises its guidance system that moves of control.The known pilot system that uses comprises wired guiding, laser guidance, tape guidance, odometer (odometry) guiding, inertia guiding and optical navigation now, and every kind of guiding all has self relevant merits and demerits.For example, inertia guiding is subjected to the influence of tracking error easily, and wherein the measured operating range of AGV is different with actual travel distance and direction with direction.Although tracking error can be minimized, but can be more serious apart from tracking error through long-distance running, and system must regulate these errors (for example by utilizing the destination reference marker (magnetic coating, radio-frequency (RF) identification (RFID) label etc.) along specified path.

The laser guidance system uses by the AGV perception and is used for controlling the special marking that it travels.This system is subjected to the influence of the barrier of mark easily, and the most significantly, this system all needs to exist mark under any environment that travels.If revised the path of AGV, then must the entity movement indicia.Further, the AGV with this guidance system only can travel in having the zone of these special markings, and these special markings need make any means of transport of institute's loading or unloading comprise mark in the context of the present invention.

A difficult point relevant with automatic loading and unloading means of transport is that means of transport is relevant to the variable position that loads joint.Means of transport is normally manually settled; For example under the situation of truck, settle by the driver.This artificial arrangement causes the position of means of transport to have unknowable variable.Because the driver settles means of transport such as trailer loading joint, he or she may not make well trailer with dock over against.This will make trailer dock the Men Chengyi pitch angle relatively.Because this angle is unknown and can be in each change in location of joint, thereby AGV can not guide and transmit the load in the trailer effectively, unless regulated to tilt or AGV has and detects and compensate the ability that this trailer tilts.This area settles means of transport to solve this problem by the related joint of use checkered plate, yet this is a kind of cost height and inefficient operation (process).Trailer also may be arranged to the optimum position of departing from respect to the butt joint door.Loading by AGV in the process of broad load, also may have problems to one inch depart from loading operation for a short time.

Means of transport generally is positioned in the loading pocket that is used to load outdoors in the transportation loading area of portion.In the means of transport instrumentation and the multiple variable between means of transport and the loading joint may cause AGV to load the difficulty (especially in the means of transport end) of means of transport.The difficulty relevant with automatic loading and unloading means of transport is that AGV must be able to overcome the difference in height between means of transport and the joint.In height all can changing of different types of means of transport and dissimilar identical means of transport.Further, the height of particular vehicle is not fixed; Because along with means of transport is loaded, suspension will be compressed, and cause the variation of means of transport height.In order to allow durability operation, thus AGV must be able to operate the means of transport height of variation and operate in means of transport and joint between the difference in height of variation.The variation of height may cause the ceiling of load contact means of transport or the ceiling edge that means of transport enters the mouth or opening (threshold) is located.Any problem that will cause loading means of transport that contacts between load and the means of transport.This area is stable and even up means of transport and solved this problem by the crane (jack) that uses hydraulic pressure or other type; Yet this is the high and inefficient operation of another kind of cost.

The change in location of means of transport may hinder the automatic loading of means of transport, and almost can be certain to reduce its efficient.For example, the most effective loading operation is arranged as a plurality of loads closer to each other as much as possible, and any variation at means of transport desired locations place will make and increases the separation of load.

Also may produce other problem, this will cause the physical location of AGV and the difference between the determined desired locations of guidance system.A cause of this problem be the sliding property surface that AGV travels thereon comprise the loading pocket plane, to access ramp and means of transport base plate.Because many means of transports are half common truck trailer, they may be used for the dilatory various products that can flow out or leak sliding property material.Means of transport also is exposed under multiple other environmental baseline, is included in the moisture that condenses on the means of transport plane and forms frost or ice sheet in some cases on the means of transport plane.Can use means of transport at various facilities place, in some cases charging appliance can with sliding property material as oil, hydraulic oil and other leak of liquid to the means of transport plane.Because AGV loads and the unloading various forms of transport, thereby these materials can be delivered to access ramp and loading pocket base plate by the AGV wheel.Because the base plate of means of transport and to access ramp can be generally and surface level be offset certain angle, thereby make the wheel of AGV skid easily, no matter whether it caused by water, ice, oil or other material.The physical location that taking turns arbitrarily skids all may cause AGV changes from the determined desired locations of AGV.

As expected, desired locations and any difference between the physical location all may cause settling contacting or guiding mistake in the future that mistake, AGV or load in the load and the wall of means of transport do not expect.Developed the sidewall that some system's proof load or AGV do not contact means of transport.This solution is the distance that begins from wall of test constantly AGV and continue to regulate so that AGV remains between each wall placed in the middle.A problem of this system is that it may slow down the loading and unloading of means of transport, and this is because AGV must also regulate any variation by test constantly.

Can compensate any variation between the height of means of transport base plate and loading pocket base plate to access ramp.Conversion between the two may need to have steep upward slope or descending between joint and the means of transport, and this may cause guiding difficulty and the trailer afterbody loads difficulty.For example, the AGV that uses the laser guidance system is because its upward slope or descending move and may lose target, and this is because the fact of laser above or below will aiming at the mark.The difficulty that the trailer afterbody of above-mentioned means of transport and transportation loading area facility loads is: if AGV is not relative means of transport base plate has an equal angular (for example the major part of AGV is in access ramp or loads on the facility base plate), then AGV may be difficult to that its load is dropped to the means of transport base plate and removes its clamp forks (fork) from pallet bag (pallet pocket) then.Especially, if means of transport base plate out of plumb and angled aligning load facility or to access ramp, the sack that then may be difficult to from the pallet is removed clamp forks, and this is because the end of clamp forks engages with one of top and bottom and another of the part of the clamp forks that distance A GV is nearest and top and bottom engages.Therefore, when withdrawing from means of transport after AGV attempts leaving last tote, last tote may be retracted with AGV.Owing to more tote is put in the means of transport, thereby suspension is compressed.Because suspension compresses, thereby trailer height reduces, and has increased the angle between the stayed surface of means of transport plane and AGV.Access ramp typically is fabricated from iron and can be sliding property, cause the mistake of guidance system.

Summary of the invention

According to foregoing, exist to significantly, efficient and use guidance system to load automatically exactly and unload the demand that the AGV of means of transport designs.Especially, the present invention relates to a kind of like this AGV design, this design can load and unload may be not in the means of transport and the compensation of desired locations or regulate the desired locations of AGV and any variation between the physical location and do not need continuous updating, when with load placed to means of transport or when means of transport is fetched load continuous updating may make that AGV's is mobile slack-off.

Based on this instructions and accompanying drawing, for those of ordinary skills apparently,, the present invention relates to a kind of method and system by AGV loading and unloading means of transport in order to meet these and other demand.At first AGV is engaged with load.Then the AGV that will have a load of joint by first guidance system directs into known location.In this position, AGV determines that the position of means of transport then carries out load placed to means of transport.Then AGV enters next desired locations.

In another embodiment of the present invention, at first AGV is engaged with load.Then the AGV that will have a load of joint by first guidance system directs into known location.In this position, AGV determines the suitable " loaded " position on the means of transport, directs into this position with himself being adjusted to the AGV that will have load, and piles up load.Guidance system after then regulating is used to guide AGV and gets back to approximate above-described known location, wherein then initial unadjusted guidance system is recovered the control of travelling to AGV.

In another embodiment of the present invention, the position of AGV scanning means of transport is to determine that whether with respect to loading pocket or to the base plate of access ramp at angle whether with respect to loading pocket or to the base plate vertical shift of access ramp or means of transport base plate the means of transport base plate.When last AGV with last load, perhaps one of last several loads is placed on when interior, AGV is adjusted to respect to AGV its clamp forks at angle to compensate arbitrarily angled or vertical shift, does not change the position of the load of placing thereby the clamp forks of AGV successfully enters or leave the pallet bag.Therefore, system measures the position of means of transport energetically and compensates last position to the clamp forks of the AGV in the load that is placed in the means of transport door.

In another embodiment, AGV laws of use in means of transport upgrades rather than continuous updating, is complementary with the desired locations of inspection AGV and the physical location of AGV.Especially, if desired, it is inner and upgrade the position of the AGV in the means of transport that laser sensor or other sensor can scan means of transport with regular intervals.Rule is upgraded to make needs to determine that the activity time of position is the shortest, and has still guaranteed the position of the AGV in the definite exactly means of transport of the guidance system on the AGV.

In following detailed description, claim and accompanying drawing, bigger scope of the present invention and applicability will become obvious.Yet, should understand, because various variations in the spirit and scope of the invention and modification will be significantly for those of ordinary skills, thereby when the preferred embodiments of the present invention are shown, will only provide and describe in detail and particular instance by explanation.

Description of drawings

From the detailed description, claims and the accompanying drawing that hereinafter provide, will more completely understand the present invention, in the described accompanying drawing:

Fig. 1 is the vertical view according to AGV of the present invention;

Fig. 2 is the side view according to AGV of the present invention;

Fig. 3 is the front view according to AGV of the present invention;

Fig. 4 a-Fig. 4 e is the vertical view according to the means of transport of loading of the present invention;

Fig. 5 is for loading the exemplary process diagram of operation;

Fig. 6 is for substituting the vertical view of AGV;

Fig. 7 is for substituting the side view of AGV;

Fig. 8 is the vertical view of means of transport with respect to AGV system and loading area;

Fig. 9 is the view that carries the exemplary AGV of load;

Figure 10 is the view of loading area, and it is included in the means of transport in the loading pocket that is loaded; And

Figure 11 is the partial sectional view that means of transport is shown, and the base plate of means of transport is lower than the base plate of loading area.

Embodiment

Referring to accompanying drawing, illustrate and describe according to automatic guided vehicle 10 of the present invention.Know, can be used for exceeding the various application of illustrated AGV according to the application of automatic loading and unloading means of transport of the present invention.For example, the present invention can use the automatic guided vehicle of various configurations, and other materials handling vehicle.

AGV 10 comprises and turning to and driving mechanism that it is used to order about AGV 10 and AGV 10 is turned to.Shown in the drawings, turn to driving mechanism to comprise driving wheel 12 and steerable wheel 14, wherein driving wheel 12 and steerable wheel 14 are coupled with guidance system and are used to order about AGV 10 and AGV 10 is turned to.Thereby rotate steerable wheel 14 owing to order about AGV 10 guidance systems, therefore AGV 10 is turned to.In addition, driving wheel 12 is preferably the dual drive wheel of series connection line to generate potential difference (PD).Also can use different propulsion systems, for example with the rotation castor or undertaken differential or " panzer " turns to by the master/slave motor controller that uses driving wheel.

Guidance system can be of known pilot system of any amount.In a preferred embodiment, use two guidance systems, will carry out complete description hereinafter.The preliminary leading system is the inertia guidance system.Optimum decision system uses the driving path of programming.The position of steerable wheel 14 is known and can handles.Preferably but not necessarily measure distance and the direction that AGV 10 travels by roller (track wheel).On each driving wheel, have scrambler and have the system that turns to scrambler and can be used for being connected with roller or separating, to follow the tracks of distance and the direction that AGV 10 travels from roller.When AGV 10 travelled, steerable wheel 14 turned to ad-hoc location at specific range.In this way, AGV 10 can be used for the distance of travelling by the position of only specifying steerable wheel 14 with when this position, travels through nearly all surface.Only provide detailed description, and dissimilar guidance system (for example laser guidance system) has been dropped in the spirit and scope of the present invention as the preliminary leading system by diagram.

AGV 10 also comprises loading seizure mechanism, for example clip; Or be preferred for engaging the illustrated pair of clamp forks (fork pair) 16 of tote 60.As known in the art, tote 60 preferably includes pallet (pallet) 72, and it has and is used for the clamp forks bag or the pallet bag 74 that engage with two clamp forks 16.As known in the art, two clamp forks 16 generally include horizontal segment 62, vertical section 70 and form betwixt transition portion the section 68.Horizontal segment 62 generally includes low surface 64, the high surfaces 63 that engages with pallet 72 when AGV 10 lifts pallet 72.Horizontal segment 62 also comprises clamp forks end 66.The vertical section 64 of two clamp forks 16 is coupled to elevating mechanism 18 or column (mast).Elevating mechanism 18 allows tote to raise or is reduced to each height, is used for for example tote being piled up each other.Clamp forks 16 is installed on the clamp forks carriage (fork carriage) 17 usually.Clamp forks 16 is coupled to clamp forks carriage 17, and it is coupled to elevating mechanism 18 in turn.In a preferred embodiment, AGV 10 also comprises two range sensors, rearmounted distance-measuring device 20 and future range measurement mechanism 30.As hereinafter complete description, two distance-measuring devices are operating as to be coupled to turn to and driving mechanism, be used to guide AGV10.

Above-mentioned loading is caught the load that mechanism can move horizontally joint by sidesway mechanism 22.As shown in Figure 3, elevating mechanism 18 can be equipped with two two clamp forks 16.Each of two clamp forks 16 is installed to the clamp forks carriage 17 of separation, and each clamp forks carriage 17 is installed to elevating mechanism 18.Elevating mechanism 18 can promote clamp forks carriage 17 as required together to be placed vertically two clamp forks 16 and/or load.Clamp forks carriage 17 also is installed on the vertical sliding surface 15, and it can be equipped with hydraulic cylinder to allow also the ability that except lifting arbitrarily of being provided by elevating mechanism 18 each two clamp forks 16 has the ability of independently lifting up to six inches.This independently lifts allows that AGV travels and its pair clamp forks 16 is navigated to a pair of adjacent load.Only improve two clamp forks and allow that AGV obtains single load from a pair of adjacent load for 16 6 inches.Same operation allows that together with sidesway mechanism 22 AGV places two loads side by side or with single bin storage frame (bin storage rack).For the sidesway ability is provided, each clamp forks carriage 17 has been equipped has the oil motor 24 that chain drives.Chain 25 is moved clamp forks carriage 17 to desired locations.In a preferred embodiment, carriage slide rail 26 is designed to allow that clamp forks carriage 17 travels through the center, thereby AGV can leave load in the center of AGV.For this reason, two clamp forks 16 move to a side and do not block road, thereby allow another pair clamp forks 16 to be placed on the center of AGV.

The forward direction of sidesway mechanism 22 collaborative elevating mechanisms 18 and AGV 10 and back allow to load on the whole three-dimensional when load joins the load seizure mechanism of AGV 10 to and regulate to travelling.In the preferred embodiment shown in Fig. 1, each of two clamp forks 16 can be flatly moves separately, promptly along the direction of arrow 31.In addition, each of sidesway mechanism 22 comprises the scrambler 23 that moves that is used to follow the trail of two clamp forks 16.These scramblers 23 preferably can be followed the trail of position and this position rate of change in the horizontal direction of two clamp forks 16.The guidance system of these scramblers 23 and AGV 10 communicates and is used for suitably placing two clamp forks 16.In conjunction with the description of loading means of transport 50, moving horizontally of two clamp forks 16 described more completely hereinafter.

Above-mentioned AGV 10 is designed for automatic loading and unloading means of transport 50.The truck trailer at the loading docking location place of related factory is described these operations, but can to arbitrarily similarly means of transport 50 (for example platform trailer or railcar) similar operation be described.

Automatically load means of transport:

In order to load means of transport 50, AGV 10 must at first engage load.In a preferred embodiment, as indicated above, by use with two clamp forks 16 of the AGV 10 of clamp forks bag (often integrated) coupling of load with pallet and by use with load from the elevating mechanism 18 that base plate goes up to the air, finish this preferred embodiment.Is the operation of difficulty with two clamp forks 16 with clamp forks bag coupling, and needs accuracy.Preferably, with load placed in known position with high relatively degree of accuracy.The guidance system of AGV 10 then is programmed for the load interaction with known position, thereby two clamp forks 16 and clamp forks bag suitably mate each other.If is difficulty or unpractical with load placed in the known location with degree of accuracy, then AGV 10 can be adjusted to the relative broad range of allowable load location.For example, optical sensor can be placed on the end of two clamp forks 16 or near the end of two clamp forks 16 and optical sensor can be used to detect the clamp forks bag of load.As AGV 10 during, these optical sensors can be opened to seek the clamp forks bag near load situation.Based on the position of detected clamp forks bag, AGV 10 will revise its driving path or preferably can regulate two clamp forks 16 by sidesway mechanism 22, thereby clamp forks 16 and clamp forks bag interact.When it allowed more mechanically actuated, the add ons that needs made it become more expensive and more unworthy configuration.

In case loaded AGV 10, then AGV 10 will sail to the loading butt joint zone of factory.Means of transport 50 (being truck trailer in this case) will be positioned at and load the joint position adjacent.In some cases, stowing ramp is used to promote AGV 10 to travel to means of transport 50 from joint.Stowing ramp is designed to alleviate the conversion of AGV 10 between two different surfaces.Because this conversion may be erratic slightly, then roller (if use) may need to lift and present and can't use to avoid roller to damage.

AGV 10 will use its preliminary leading system to load joint and near means of transport 50 so that load is transported to.In a preferred embodiment, AGV 10 will use the opening of its preliminary leading system with the hole (opening) 52 that moves to means of transport 50.At this moment, the secondary guidance system of AGV 10 will be enabled and be used for AGV 10 is directed into the " loaded " position of expectation.In a preferred embodiment, secondary guidance system comprises two groups of above-mentioned distance-measuring devices 20 and 30.When AGV10 to overtake the time rearmounted distance-measuring device 20 operate, future range measurement mechanism 30 is operated when AGV10 travels backward.The preferred distance measurement mechanism is an analog sonic sensors, yet also can use laser class, the laser scanner or the optical system of (moving beam-type) replaces to have the mobile beam formula.Thereby every group of distance-measuring device AGV 10 of operation will be sought the middle part of means of transport 50.By using sensor to finish this operation, thereby the distance of a side 54 that will be from a sensor to means of transport 50 deducts the distance of 50 opposite sides from another sensor to means of transport, with generation+/-error signal.Thereby can use this by the steering mechanism of AGV 10+/-error signal with guiding AGV 10 on suitable direction make+/-error signal approaches 0.In this way, AGV 10 will seek the middle part of means of transport 50, thus any inclination that the position of compensation means of transport 50 is loaded joint relatively.If each means of transport 50 that is loaded has known width, then can in each group, only use a sensor.In the present embodiment, the known distance that is associated with the AGV 10 that is positioned at means of transport 50 middle parts should be deducted distance from this sensor, with obtain+/-error signal, thereby can use by the steering mechanism of AGV 10+/-error signal with guiding AGV 10 on suitable direction make+/-error signal approaches 0.In another embodiment, AGV 10 does not track the middle part of means of transport 50, but the specific range of a side 54 of maintenance and means of transport 50 replaces.

By secondary guidance system AGV 10 is directed into the expectation " loaded " position.Preferably, the expectation " loaded " position is between the most preceding free area of means of transport 50.In a preferred embodiment, AGV 10 will move at the middle part near means of transport 50, up to the end 56 that detects means of transport 50 or till being loaded into load on the means of transport 50 in advance.One or more pressure transducers by suitable configuration can be finished this detection.The end that pressure transducer can be placed into two clamp forks 16 is to detect and the end wall 56 of means of transport 50 or contacting of other load, or in a preferred embodiment, pressure transducer can be positioned on the other end of two clamp forks 16 to interact with load when load self contact end wall 56 or other load.In a preferred embodiment, when AGV 10 during near the expectation " loaded " position AGV 10 slow down to than jogging speed, and the drive current of AGV 10 by the motor of monitoring AGV 10 detects the end 56 of load and means of transport 50 or the bump of other load.Because the resistance that travels increases (for example, when relatively-stationary object contacts AGV 10), thereby the electric current that is delivered to the electro-motor of AGV 10 has also increased.The increase of electric current can be used as the indication that load has reached its expectation " loaded " position.

In case AGV 10 reaches the expectation " loaded " position, then AGV 10 piles up load.In a preferred embodiment, it comprises by elevating mechanism 18 load is dropped on the means of transport 50, two clamp forks 16 is moved to the clamp forks bag do not rejoin then.The step of piling up load shifts two clamp forks 16 (load with joint) by sidesway mechanism 22 before also can being included in and piling up load outside a side of means of transport 50.In a preferred embodiment, load comprises two independent pallets, and each pallet engages with two clamp forks 16 shown in Figure 1.In the present embodiment, when AGV 10 on the travel direction of AGV 10 near expectation during load situation, sidesway mechanism 22 begins two clamp forks 16 and the independent pallet that engages moved outside the side 54 of means of transport 50 and they are separated from one another.Scrambler 23 is followed the trail of the variation of the position of two clamp forks 16 during this side shifting.In a preferred embodiment, when the position that scrambler 23 detects two clamp forks 16 no longer changes, assumed load contacts with the side 54 of means of transport 50, and AGV continues to travel up to the end 56 that detects means of transport 50 on the forward direction or till being loaded into load on the means of transport 50 in advance, and is as indicated above.At this moment, load has arrived the expectation " loaded " position, and load is lowered on the base of means of transport 50.

Can make the various modifications of the foregoing description and do not depart from the scope of the present invention of prescription.For example, can use the AGV 10 that only has two clamp forks 16 with method of the present invention.In the present embodiment, can move two clamp forks 16 by sidesway mechanism 22, thus can be with side 54 places of each load placed at means of transport 50.In this way, means of transport 50 can load a load at every turn.If desired, AGV 10 also can replace the side 54 that the means of transport 50 of load has been piled up in the top.In addition, the present invention allows that AGV 10 disposes with arbitrary load and loads means of transport 50, for example with two loads arranged side by side from the front loading of means of transport 50 to terminal (preferred embodiment shown in Fig. 4 a), the alternate row of the load at two loads arranged side by side and middle part is loaded into end (Fig. 4 b) from front end, or other possible layout arbitrarily.Under the situation of asymmetric load, load bank can be classified as and make some load be rotated with respect to other load, as Fig. 4 c (wherein the load of 60 ' expression is from the formation half-twist of load 60) and Fig. 4 d (wherein load 60 with " pinwheel " (pin-wheel) layout arrange) shown in.In the layout shown in Fig. 4 a-Fig. 4 d, show rectangular load; Yet the present invention can use the load of arbitrary shape.

Owing to pass through the dirigibility that AGV 10 piles up the position of loads, the best configuration of the means of transport 50 that can obtain loading.In common arrangement, load the means of transport 50 feasible minimum clearance spaces (promptly not having load) that reach, yet, for heavy load, may surpass the weight limits of means of transport 50 with this configuration.Under this environment, or under another incident, can be to make the mobile minimum that loads in the means of transport 50 with the layout arrangement of the load in the means of transport 50 less than the means of transport 50 that loads fully.In each case, AGV 10 of the present invention and method can be used for reaching the loading of means of transport 50 expectations.

After piling up load, to follow secondary guidance system and will be used to guide AGV 10 and get back to the almost same position that at first enables secondary guidance system, this position is the opening 52 of means of transport 50 in a preferred embodiment.In case the preliminary leading system is positioned at this position, then then initial guidance system is used for the guiding AGV 10 that travels at AGV 10; For example, pick up another load.If as in a preferred embodiment, used roller, then reduce roller with kiss the earth once more and used by first guidance system (being the inertia guidance system).

In a preferred embodiment, the action that the preliminary leading system will continue to follow the trail of AGV 10 when guiding AGV 10 by secondary guidance system.This continuous tracking allows that the guiding by the preliminary leading system recovers more accurately.

Automatically unload means of transport:

The operation and the above-mentioned loading operation of unloading means of transport 50 are closely similar.The key distinction is that the operation that unloads means of transport 50 is difficult to guarantee that the load that will be picked up is in the appropriate location on the means of transport 50, therefore AGV 10 must be designed to this variation and other variation of compensating load position.Method for optimizing comprises that the AGV 10 that will have the preliminary leading system directs near the step of the position the means of transport 50, and this position is most preferably at opening 52 places of means of transport 50.At this moment, the secondary guidance system that preferably includes above-mentioned analog sonic sensors with AGV 10 guidings for and load matched.As indicated above, can by on the clamp forks 16 or near comprise optical sensor and AGV 10 be adjusted to the relative broad range that allowable load is placed that this sensor can be used for detecting the clamp forks bag of load.As AGV 10 during, can open these optical sensors to seek the clamp forks bag near the load situation on the means of transport 50.Position based on the clamp forks bag that is detected, AGV 10 will regulate its driving path, or preferably can be by allowing that two clamp forks 16 are independent of the clamp forks shifter that moves of AGV 10 (being above-mentioned sidesway mechanism 22 and vertical sliding surface 15) and regulate clamp forks 16, thereby two clamp forks 16 and the interaction of clamp forks bag.In case engage, then can lift load by the elevating mechanism 18 of AGV 10.Follow secondary guidance system AGV 10 guidings are turned back to the almost same position that it begins to guide AGV 10, the i.e. opening 52 of means of transport 50.At this moment, then the preliminary leading system is used at its guiding AGV 10 that travels.In a preferred embodiment, the action that the preliminary leading system will continue to follow the trail of AGV10 when guiding AGV 10 by secondary guidance system, thus the guiding of preliminary leading system recovers more accurately.

Another embodiment of the present invention was allowed before an AGV 10 enters means of transport 50 by determining that the transport driving path uses the preliminary leading system to come manipulation (navigate) means of transport 50 in.When determining transportation route, system must determine that means of transport 50 loads the inclination of joint and 82 middle parts, storehouse are docked at the ostiolate middle part of haulageman with loading any lateral excursion relatively.In certain embodiments, system also determines the position and the relative angle at one of means of transport base plate and top.As indicated above, in a preferred embodiment, AGV uses the inertia guidance system AGV 10 is directed into the opening 52 of the means of transport 50 that will load.The opening 52 of means of transport 50 is near the door 55 of means of transport 50.Different with the method for describing before, AGV 10 does not need to switch to second guidance system, but be replaced by, during near the opening 52 of means of transport 50, the sensor that system for example has mobile laser beam or an optical system by use is determined the transport driving path of AGV 10, scans means of transport 50 with for example position of the sidewall by determining means of transport 50.In certain embodiments, sensor also can scan means of transport top 58 and means of transport base plate 57 one of at least.Owing to have definite transport driving path, preliminary leading system (for example inertia guidance system) can be used for to come loading or unloading means of transport 50 with the very similar mode of the mode described in the above-mentioned example.

AGV 10 can use single-sensor 100 or a plurality of sensor to come from the means of transport 50 outside data profiles that generate means of transport 50 inside.In this alternate embodiment, before entering the cavity that is formed by means of transport 50, the main body of AGV 10 more preferably before load 60 enters means of transport 50, generates the data profile of means of transport 50, in this cavity, will place load 60.The data profile that generates means of transport 50 is with identification departing from from desired locations, the for example transversal displacement of means of transport 50, inclination, the perpendicular displacement of means of transport base plate 57 and angle are allowed the optimal path of AGV 10 easily being adjusted to placement means of transport 50 internal burdens 60 before AGV 10 enters means of transport 50.Especially, because operator error, means of transport 50 or especially load 60 are placed within it semitrailer and are typically when getting back to loading area 80 and depart from the optimum position and almost can not aim on lateral excursion exactly or tilt.Loading area or joint 80 (comprising by loading the Hatch Opening 82 that bulkhead 83 is limited) are wider than the means of transport width to allow operator error.Yet this operator error of allowing may produce the problem of the AGV 10 in the system that uses the load 60 of fully filling means of transport 50 width, shown in Fig. 4 e.Means of transport 50 relative perpendicular displacements of loading facility base plate 85 also may produce the problem of the AGV10 with high capacity.Surface-supported perpendicular displacement of the relative AGV of means of transport base plate and angle also may produce AGV and place the problem of load near the opening 52 of means of transport 50.Therefore, AGV 10 uses sensor 100 to generate the profile of means of transport 50 before entering means of transport in load 60, even thereby means of transport 50 is from the desired locations horizontal transfer as shown in Figure 8, allow that also AGV 10 enters means of transport 50 and do not contact against the load of sidewall 54.As shown in Figure 8, if the operator suitably arranges means of transport 50, then the longitudinal axis 51 of means of transport 50 will be arranged along the longitudinal axis 84 of expection.Yet in Fig. 8, not only means of transport 50 is from the mouth 52 of means of transport or the longitudinal axis 84 lateral arrangement of the expectation of opening part, and with the longitudinal axis 84 of the expectation a certain angle that tilts.As Fig. 9-shown in Figure 11, means of transport also can be with respect to loading facility base plate 85 or access ramp 86 vertically or at angle being arranged.

AGV can use as No. 2006/0276958 name of U.S. Patent Publication and be called the sensor 100 that " Inertial Navigational Guidance System For A Driverless Vehicle Utilizing Laser Obstacle Sensors " (the inertial navigation guidance system that is used for the use laser obstacle sensor of automatic driving vehicle) described, obstacle with means of transport 50 sidewalls 54 when avoiding entering means of transport 50 contacts, then use aforementioned second guidance system by generate carry out subtraction from the distance of pair of sensors/-error signal to be to seek the middle part of means of transport 50, thereby simplify AGV by removing unnecessary sensor, reduce production costs, and the minimizing load time, the present invention uses sensor 100 to be created in the single step transversal displacement and the inclination of means of transport 50 or the data profile of the means of transport 50 that angle is handled to means of transport 50.Sensor 100 in the single step also can be determined the perpendicular displacement and the angle of means of transport 50.This method has also been eliminated the needed continuous calculating of inclination and the adjusting that double-sensor system is regulated means of transport, thereby allows faster operation A GV 10 and reduced the loading time.The minimizing of the AGV quantity of using in the system is all allowed in any minimizing of 50 loading times of means of transport, thereby reduces the original cost of system and the cost of working continuously significantly.

Use transportation route that sensor 100 produces the preliminary leading system then giving up demand in a preferred embodiment, but will use second guidance system in some instances second guidance system.In a preferred embodiment, AGV 10 uses same navigational system to navigate to position A and navigates along transportation route.As indicated above, this guidance system can be any known system that comprises laser guidance, for example inertia system, wired guiding, visual guidance, tape guidance, laser eyepiece guiding or laser guidance.Yet,, in means of transport, also can comprise inertia guidance system, dead reckoning guidance system, visual guidance system or laser guidance system in order to travel if use wired guidance system, tape guidance or laser eyepiece guiding.As mentioned above, especially in [0023]-Di [0032] section, AGV 10 will use the preliminary leading system to come as desired operating when obtaining load 60, then AGV be directed into the point of the A of position as shown in Figure 8 of means of transport 50 outsides.

Position A at means of transport 50 outside and according to the size of load 60, the maneuverability of AGV 10 (if sensor 100 is positioned on the AGV, then also according to the sensitivity of sensor 100) and with the distance variable of means of transport opening 52.Especially, if sensor 100 is positioned on the AGV 10, then position A can be positioned at any distance or the position that is drawn the precise information profile of means of transport 50 by sensor 100 of allowing of means of transport 50 outsides, thus with the position of determining sidewall 54 exactly determine means of transport 50 whether with desired locations horizontal transfer and horizontal transfer how far and the inclination or the angle (as shown in Figure 8) of means of transport.From then in the data profile, can calculate transportation route so that AGV along this transportation route.In certain embodiments, two or more sensors are used to guarantee that means of transport has accurate and complete profile.For example, sensor can be positioned on the AGV than low spot place (for example can under the load of rising, operate), and a sensor can be positioned at high some place (for example can operate) above load.If used more than a sensor, thereby these sensors can be positioned at each side of AGV or the position of other expectation arbitrarily.

Notice that following content is very important: by determining optimal path and optimal path put into means of transport and take out to be used for the loading and unloading means of transport that the data profile of means of transport allows that AGV (being central processing unit in certain embodiments) puts into means of transport 50 in courses of action or the route of operating system and AGV from means of transport.System also can with clamp forks 16 and load 60 move with means of transport in or outer AGV travel collaborative mutually to prevent any interference being arranged with near the operation of the opening 52 of means of transport.Certainly, those of ordinary skills with identify the operator can with means of transport to the relevant data identification in the expectation destination of the availability of system and this means of transport and offer system, thereby the AGV system knows when load particular vehicle 50 with which kind of load and with how many loads.Also should discern: even can use term " desired locations " or " ideal position " when referring to means of transport 50 from the skew of best located, the system of AGV or operation A GV must not comprise the data relevant with desired locations.What substitute is, sensor 100 generates the data profile of means of transports, then calculates optimal path or transportation route and optimal path or transportation route are put into system that AGV follows till means of transport has been filled system or means of transport removed from system.Therefore, controller or AGV can be at A place, the position of loading pocket put into transportation route means of transport 50 and transportation route are taken out from means of transport 50, and system loads door with each and is associated position A is identified as and uses operating system driving path or route to switch to these the interpolation line segments that calculate at each means of transport and the optimum point of interpolation driving path from system.AGV follows from position A to means of transport 50 transportation route, and when load is piled up, travel home position A and switch to modular system driving path or route from using in means of transport 50 established data profile or route for its next destination of AGV.

Position A preferably system set up be determined to be in the process AGV 10 handle also can allow when self aliging with the optimal path that enters means of transport maximum sized load 60 remain on trailer opening 52 outsides from the means of transport 52 nearest points that enter the mouth.If sensor 100 is positioned on the AGV, then AGV10 is placed as much as possible near means of transport 50, allow that typically AGV provides better means of transport 50 data profiles.

For example, if load has about three feet degree of depth, and AGV 10 need be used for suitably the average maneuver space that self aligns with means of transport 50 being about three feet, then for allow load 60 pass mouthfuls 52 or the opening of means of transport 50 before AGV have enough maneuver spaces self alignd and allow the position of optimization sensor with expecting driving path, the expectation stop position of means of transport 50 outsides will be about six feet or bigger from opening 52.If sensor 100 is not positioned on the AGV, then it can preferably allow bigger maneuver space sentencing than distant location placement location A of opening, then because AGV had its position of adjusting before load 60 enters means of transport 50 and driving path expects that with coupling thereby the more easier time of transportation route has reduced the loading time, more speed is typically allowed in this space.

If AGV 10 does not have the information that is relevant to transport vehicle 50 directions (being suitable in the operated total system of AGV 10) in plate set controller that guides AGV or central controller, or the transportation route of required calculating, then AGV 10 will generate image, map or other data profiles on trailer, can determine the orientation of means of transport 50 from this trailer.In determining the orientation of means of transport 50 importantly, mouthfuls 52 (the especially sidewalls 54 on mouthful 52 every sides) have much from departing from of desired locations (being typically the center of loading pocket), or the position of sidewall 54 especially, thereby the load that enters 60 does not contact with sidewall 54, and determines the angle or the degree of tilt of trailer by sidewall 54.Although do not need, when if just part has been full when loading empty means of transport or means of transport and arrive, according to any pallet in end wall (end wall) 56 means of transports or the distance of load, sensor 100 also can be used for determining the position of end wall 56.The position of end wall 56 or the load of existence arbitrarily allows that AGV 10 or system controller calculate AGV 10 and must how far travel to place first load 60 in trailer.In a preferred embodiment, the length of calculating transportation route allows that AGV travelled in trailer before reducing load farther, is advanced to the final position then.Minimize by advance distance load in the means of transport, the battery charge on the AGV 10 will be before needs charge again last much longer.Yet, when placing load 60 as knowing the about length of trailer as AGV 10 and when travelling, also can using other method for optimizing to determine how far AGV must travel in trailer.

When determining the driving path of AGV 10 in means of transport, the data profile that AGV 10 typically collects means of transport is then analyzed sidewall 54 to determine approximately the driving line along the actual longitudinal axis of means of transport.Especially, AGV 10 is typically near the position of loading pocket 82 to the edge expectation longitudinal axis 84.Sensor 100 reflects that then means of transport 50 determines the expectation driving path of the typical actual longitudinal axis 51 along means of transport 50 to generate the data profile.Typically, the sidewall 54 by the arithmetic mean means of transport generates the central transportation route of means of transport 50 to calculate this actual longitudinal axis.

When AGV 10 is positioned at A place, position, if sensor 10 is positioned on the AGV, then AGV will stop and describing the profile of means of transport 50 or be positioned at the position of A front, position with sensor 100.If position A is fully away from means of transport opening 52, thereby position A is the minor increment big distance more motor-driven than needs, before load 60 entered means of transport 50, the enough sensors 100 of AGV possibility energy were described the profile of means of transport 50 and can not stopped.Position A among Fig. 8 only refers to the inside of perception means of transport and/or switches to the ideal position that AGV 10 follows transportation route, in the motor-driven tram of following transportation route that enters, ideal position place, wherein ideal position comprises the inlet that enters means of transport 50 and load 60 does not contact sidewall 54.Therefore, the previous embodiment that is positioned at means of transport inside between guidance system with sensor 20 and 30 when switching is compared, calculate the new route of means of transport in the present embodiment and switch when using this path, sensor 100 is positioned at the means of transport outside fully.Therefore, if sensor 100 on AGV, then arrives the data profile that first AGV of position A will obtain means of transport 50.The load 60 of which kind of type that receives for means of transport 50 and length and the potential width of means of transport 50, AGV or central controller use the data profile to calculate the optimal path (transportation route) of means of transport 50 and the optimum of load 60 is located.Then, AGV follows from position A to means of transport this transportation route of 50, deposits its load 60, then follows the transportation route that turns back to position A in means of transport 50 outsides.At position A place, it switches to the route that is used for next destination system from transportation route.

Sensor 100 is preferably any sensor of the image that laser sensor maybe can generate means of transport inside (as mouth 52, sidewall 54 and the end wall 56 of sensing means of transport).In some instances, especially when high load is loaded onto in the means of transport, sensor 100 also can provide the information relevant with the ceiling (not shown) of means of transport, keeps enough gaps when guaranteeing that AGV enters means of transport between the ceiling of the top of load 60 and means of transport.As shown in Figure 6 and Figure 7, sensor concentrates on the AGV between two clamp forks 16.By between load 60, checking the general height that allows the top of measurement sidewall 54 and means of transport 50 in this location.Yet according to various operational requirements, sensor 100 can be positioned at other position.For example, some factory has big object, uses the device of pallet as worktable, furniture or other, and the twice that these objects have a normal object greatly or bigger.Therefore, if if pallet is the pallet that double wide pallet or sidewall 54 have two double-lengths on the clamp forks that is arranged in AGV, check top in order to allow sensor 100, then other position on the AGV can be used for placement sensor 100.

In a preferred embodiment, second AGV that will arrive at has been provided with and the relevant information in intrasystem means of transport orientation, or especially means of transport is inner and in case piled up the load information of the transportation route of home position A again from position A to means of transport.Because AGV known and follow the transportation route that previous AGV joins system, when switching between the mulitpath that AGV follows, AGV can enter into means of transport and do not stop or even sensing means of transport 50 not by position A.In order to make maximizing efficiency, system can switch to the expectation transportation route before the A of position, allowing than moving time (maneuvering time) of lead aircraft and fair speed that typically AGV can be motor-driven, this is because it has more time and longer distance so that its route matching is expected transportation route.For example, the inertia guidance system is used for taking AGV to position A, as shown in Figure 8.Before the A of in-position or at in-position A the time, central controller will expect that transportation route offers AGV, and this AGV then continues to use the inertia guidance system himself is alignd and then follow transportation route to enter means of transport and load 60 is placed on the appropriate location.AGV uses the inertia guidance system to follow the inverse path that turns back to position A, and it switches to the path of new destination at A place, this position.

Certainly, each AGV can comprise sensor 100 and controller respectively, and this controller is for the first time or all create data when AGV is near transport vehicle each time separately and cut open picture and calculate and place the required transportation route of the load 60 actual longitudinal axis 51 of transport vehicle 50 (usually along).Near means of transport 50, it can recomputate the expectation driving path maybe can use predetermined driving path to later on each AGV in order to place load 60.Make two or three AGV that begin at least calculate the transportation route that to follow, thereby allow transportation route and data profile on average with for route more accurately.Yet, along with transport vehicle 50 is filled by load 60, reanalyse before AGV enters at every turn and may run counter to desire, the sidewall that (on being installed on AGV time) seen usually because sensor 100 is less and have thus and bigger may introduce error (because data are cutd open the sidewall that picture will measure less) therein when recomputating required transportation route.

As optional step, when sensor 100 scanned the inside of trailers 50, sensor also can scan the fixed object in the loading pocket zone 80, to calibrate it in intrasystem position.Especially, in Fig. 8, AGV 10 can drive to position A, and when scanning the inside of means of transport 50, docks storehouse 82 based on loading butt joint wall 83 and loading, and determines that it has departed from position A and has had 1/2 inch.Drive to afterwards in the means of transport 50 and will turn back to position A with the AGV that places load; Yet when it turns back to position A, it will adjust the difference in advance between desired locations and the physical location.Therefore, AGV 10 allows its position of simple calibration and does not have extra step or calibrate at intrasystem other some place.In embodiment before, in case determine the longitudinal axis 51 of new transportation route along means of transport 50, then AGV uses its inertia guidance system to drive in the means of transport 50 and to arrange load 60.Use the inertia guidance system to replace that separate or different guidance systems, allow and in generating the AGV process, reduce manufacturing cost and do not lose any advantage.Yet the present invention can use for example dead reckoning of a plurality of other guidance systems, laser guidance, visual guidance, tape guidance and wired guiding.In the process of using the inertia guidance system, gyroscope is suitable for moving of surface level and is unsuitable for vertical moving, thereby when AGV entered trailer 50, transport vehicle 50 any vertical dislocations with respect to the loading railway platform can not influence the inertia guidance system.Those of ordinary skills will recognize: in certain embodiments, the data profile that each AGV generates means of transport self can be valuably, such as eliminating any calibration problem or guaranteeing that higher load can be owing to transport vehicle is followed the top that contacts transport vehicle from the sedimentation of load weight increase.In certain embodiments, when being desirably in specified point place recalibration inertia guidance system, the data profile of expectation generation means of transport and the particular fixed position on the loading area 80 are to provide AGV calibration with respect to system.

Those of ordinary skills will recognize: AGV generally with the clamp forks that is positioned at vehicle rear and load 60 to overtake.Therefore, before the position A in arriving at Fig. 8, AGV generally will turn to motor-driven, thus load 60 or pitch 16 in the face of means of transport 50.Then, if desired, AGV sensing means of transport is to generate data profile and transportation route and to make load elder generation and then sail in the means of transport 50.When placing load 60, AGV sails from means of transport and gets back to position A and switch between a plurality of profiles or a plurality of system, so that this vehicle can not slow down or stop when withdrawing from its next part load of transport vehicle subsequent pick-up substantially.Certainly, in some instances, sensor 100 can be positioned at car fork opposed side edges and clearly remove to create the data image of trailer in the visual angle to give sensor.In this embodiment, position A can be positioned at from 52 distances enough far away that enter the mouth, and allows AGV Rotate 180 °, himself is alignd with transportation route, and make load formerly enter transport vehicle 50, and load 60 is not come in contact with sidewall 54.

Because AGV loaded vehicle with maximized placement load, thereby AGV generally puts down load and load is promoted Distance Remaining along the base plate of means of transport when the afterbody in path of its calculating is arrived in load.By using the current sensor on the driving wheel, can determine when load contact with before load and be the load before that nestles up on the means of transport this load placed.

In the modification of the foregoing description, the present invention also can carry out regular update, upgrades with specific interval when travelling between load situation and position A as AGV.Regular update has been proofreaied and correct the error of any vehicle slip, thus minimizing of reducing of the efficient that makes the additional treatments request relevant minimize and make in continue to proofread and correct the path process of AGV in response to the renewal that continues, to load means of transport with the continuous updating that carries out the position.Can according to the type of guidance system before and before the accuracy of guidance system change the repeatedly interval between the regular update.The typical case is the operating range that is set to special time, AGV between the regular update or other parameter (as the combination of time and distance parameter) repeatedly.The number of times that minimizes renewal prevents unwanted technology, comprises guiding correction increase and unessential.The deflection correction of various increases (course correction) can reduce speed and the efficient that means of transport can load, and this may be owing to it because loaded the speed that means of transport 50 has reduced AGV.Especially, when AGV moves to expectation load situation when unloading means of transport (if or be unloading position) from the position (for example from position A) of means of transport outside, by increasing some position verifications and upgrade in the method, thereby allow maximal efficiency.Notice that following content is very important: the guidance system before AGV continue to use and the content update of renewal the guidance system before this.System can preferably not switch to above-mentioned second guidance system relevant with one of the foregoing description.Therefore, this extra method step allows that system easily proofreaies and correct the guiding mistake that restriction or environment error by guidance system cause.

Multiple guiding mistake can take place in the vehicle slip that is caused by the humidity on the means of transport base plate, ice, liquid, oil or other material.Because various AGV load means of transports, thus along with these materials of past of time be convertible into extend in means of transport or the device storehouse base plate to access ramp.For example, means of transport generally is used in the multiple facility of various products that had wherein carrying, and means of transport generally is used for accumulating along with the past of time the various wrong sliding property materials that may cause guiding.By carry out rule and the renewal that do not continue, any latent fault of system compensation also minimizes the processing electric power that needs, thus efficient and speed that maximization AGV loads means of transport.

System can use any sensor, for example above-mentioned

distance measurement sensor

20 or 30, or more preferably sensor 100.The plan driving path of known sensor 100 when entering means of transport 50, use AGV 10 sensor 100 to have specific advantages, owing to also can easily compare sensing data and the data that in-profile received that encapsulate or describe means of transport at position A place at least by first AGV.

If AGV 10 comprises the inertia guidance system as its preliminary leading system, then sensor 100 will come activated sensors 100 then these data to be offered controller with the inside of describing means of transport with regular intervals (for example with per two rotations to three wheels) to be used for handling.Sensor 100 can be configured to provide three-dimensional (or two dimension) at least profile of the position of AGV 10 in means of transport.Comparatively speaking, sensor 20 and one of 30 provides one-dimensional profile in means of transport.Therefore, guidance system position that main advantages is the feasible two-dimentional at least error-checking AGV that more newly arrives.At sensor 100 is that guidance system can carry out dead reckoning among the embodiment of sensor of preliminary leading system (as laser radar (Ladar), optical fiber or laser guidance system) between a plurality of renewals.Eliminated the last demand of AGV like this to expensive inertial sensor.

In certain embodiments, system can not comprise the sensor 100 on the AGV, places sensor (at these sensors that load joint and AGV 10 uncorrelated and still can see fully in the means of transport 50) near the joint but be substituted in to load.For example, sensor 100 can be positioned in the face of about six feet position outside each device storehouse of means of transport 50, thereby once opening the door that loads door and arrive means of transport 50, then the data profile of the means of transport physical location of the side-play amount, inclination and the angle that comprise the relative desired locations of means of transport 50 base plates may automatically be described and generate to sensor.Then, this data updated profile is offered central controller, thereby wherein this central controller will have been eliminated following steps for each AGV provides transportation route or travel route: the data profile that generates the means of transport position by first AGV at least then upgrades central controller and determines the driving path of AGV.Therefore, central controller can generate expectation driving path and AGV and can use its inertia guidance system (this inertia guidance system uses the data profile of standard to be used for vehicle running path) to drive to position A, thereby and AGV in position A the data profile be need not to stop---perhaps under most of situation even need not to slow down---and continue to enter transport vehicle 50 when the expectation driving path switches to the actual travel path at in-position A.If sensor is positioned at the AGV outside vehicle, then sensor can be positioned at loading pocket 80 inside, zone or loading pocket outside, for example in each trailer over top or between each trailer.For the data updated profile is provided to AGV, only need to determine the inclination and the lateral excursion of means of transport 50 usually.

Owing in the accompanying drawings AGV is illustrated as vehicle with two groups of clamp forks, thereby it can be carried to a pair of pallet in the means of transport, can use vehicle in some cases with single group clamp forks, and placed side by side at differently entering means of transport determines new transportation route at every turn for load.

The present invention is useful especially for the load that has the non-constant width of minimum clearance between every side of pallet and means of transport sidewall, especially in two bag systems.The transportation route that use to calculate, expectation AGV 10 can enter between every side of load and sidewall less than 1/2 inch means of transport and drive to load 60 placement desired locations and can not run into the sidewall of means of transport 50.

Said system also can be used for unloading automatically means of transport.The operation with the said apparatus means of transport is similar in fact for the operation of unloading means of transport.Yet, in pallet is filled means of transport 50 near the mouth of means of transport 50 fully, AGV can unload this pallet and can sensing means of transport 50 to generate the data profile.In case remove first pallet, or means of transport 50 do not comprise full load, but then the sidewall of AGV sensing trailer and position to determine the inclination and the transversal displacement of means of transport 50.Along with load 60 is constantly shifted out from AGV, thus the data profile that each AGV afterwards can generate trailer initial data profile errors of causing of the limited quantity of measured transport vehicle sidewall of sensor 100 when reducing owing to the transport vehicle part cargo shipment.Along with removing each pallet or load 60 from means of transport 50, thereby the more parts of sidewall 54 are visible to generate data profile more accurately for sensor.In case before and the error between the data profile afterwards under threshold level, then system can determine the expectation transportation route of the inclination of means of transport and side-play amount and the AGV after each.In case because thereby pallet misplaces at pallet on the trailer in trailer, for good tuning aligning, then the pallet bag sensory perceptual system of any type well known in the art all can be used for aiming at clamp forks to be fitted in the pallet bag.In the embodiment of the position of sensor away from AGV (for example the top in device zone 80 hangs), when the unloading means of transport, sensor 100 can be seen the over top of load 60, the partial data profile that has means of transport 50 inner least errors with generation, thus even also can accurately determine the inclination and the lateral excursion of means of transport to the full means of transport that loads.Sensor is used to unload the means of transport that provides for more efficient system away from the placement of AGV vehicle, and this is owing to be not the data profile that each AGV needs to generate means of transport 50.

Be not arranged in embodiment on the AGV at sensor 100, the system class that comprises a sensor with each AGV seemingly, but native system also regular update with the physical location of error checking AGV with respect to AGV desired locations (being determined) by guidance system.Generally speaking, aforesaid system AGV when position A moves to the " loaded " position of expectation with the regular intervals refigure profile of means of transport 50, but be to use sensor away from AGV.Therefore, compare, from sensing data, can determine the physical location of AGV 10 with the initial profile of means of transport.By departing from arbitrarily of the data position correctable relevant with the variation of AGV is provided by system.

When sensor 100 is positioned at AGV and goes up, preferably sensor is placed on and makes sensor can see the position of load 60 belows or top.Because the type of load 60 can change between multiple mounting means, preferably sensor is lowered on the vehicle, to see the inside of load 60 belows and sensing means of transport 50.Typically, at least about four to six inches, the optimum position of expecting on two clamp forks AGV is about the center of AGV (while arriving) and about 7.5 inches of built on stilts with built on stilts in this placement.Certainly, sensor can be positioned at any place of the reading accepted of the position that can receive means of transport 50 sidewalls 54, preferably includes the end wall of sidewall, defines the mouth of means of transport 50.Owing to have the sensor 100 of the below, normal carrying position of load of being placed on 60, AGV can generate the data profile of trailer 50 when the AGV vehicle moves, thereby switch to by the renewal driving path that the new data profile determined that is provided by sensor at position A place AGV is stopped.

As mentioned above, use sensor 100 to determine the relevant position of means of transport base plate 57 or means of transport ceiling, allow that the end loading of means of transport has additional the selection, for example make last inside from the opening 52 of means of transport 50 pallet or load 60.Although the said method that is used for loading and unloading means of transport 50 is for the equal operational excellence of all types of means of transports, loading and unloading load 60 may be difficult near means of transport 50 ends sometimes.Especially, as Figure 11-shown in Figure 19, if put above AGV 10 main body stayed surface with respect to the top surface that will place or remove load 60 (especially pallet 72) at angle, because the pallet clamp forks 16 when pallet 72 removes clamp forks or clamp forks is inserted into pallet 72 on the AGV 10 collides with pallet 72, thereby may produce difficulty.Pallet 72 comprises and is inserted with clamp forks 16 to lift the pallet bag 74 of load.After taking load 60 to desired locations, after placing load 60, clamp forks 16 is removed from load.When load 60 being rested a surface (for example with respect to the top surface means of transport base plate 57 at angle of having put AGV 10, for example the device storehouse base plate 85 of Figure 11-shown in Figure 19 or to access ramp 86) when going up, AGV is difficult in the position that AGV proof load when bag removes clamp forks remains on placement then accurately placing load; Perhaps when unloading means of transport 50, it is difficult to take out load 60 that clamp forks is inserted bag.Pallet bag 60 is narrow, even it is thereby slightly different between a plurality of surface angles, clamp forks end 66 can engage with one of the upper surface of pallet bag 60 or lower surface, and another surface engagement of the part of the horizontal segment 62 nearest apart from converter section 68 and the upper surface or the lower surface of pallet bag 72.From above-mentioned description and shown in the accompanying drawing, can easily understand this joint and result in operating period and may go wrong at the opening or 52 places, end of means of transport 50.Especially, load far away has less problem in the means of transport, and this is because when AGV enters means of transport, becomes that to be positioned on the means of transport base plate 57 the AGV stayed surface identical with load bearing surface thereby take turns 12 and 14.Therefore, from describe as can be seen, when AGV attempt with load placed on means of transport base plate 57 and AGV 10 remain on may be at angle with respect to means of transport base plate 57 to access ramp 86 or loading pocket base plate 85 on the time, have one or two pallet in door 55 or opening 52 have problem.

As mentioned above, when AGV arrives at position A, sensor 100 can scan means of transport with determine means of transport base plate 57 or means of transport ceiling 58 one of at least.Because means of transport ceiling 58 generally is parallel with means of transport base plate 57, thereby generally speaking only need to make AGV to determine that one of these two faces are to determine that means of transport base plate 57 is to the relative height of loading pocket base plate 85 and the relative angle of means of transport base plate 57 and loading pocket base plate 85.In addition, when the position of sensor 100 scanning means of transports 50, can determine means of transport 50 and loading Hatch Opening 82 or dock the relative position of wall 83.Determine relative angle and the difference in height of means of transport 50, allow that AGV 10 or system controller determine to extend to the relative angle to access ramp 86 in the means of transport 50 with respect to the loading pocket base plate 85 of butt joint position of wall 83 and means of transport base plate 57.If desired, AGV can determine further how far access ramp 86 is extended in the means of transport.Therefore, for load 60 being placed near the end of means of transport 50, system will follow above-mentioned guidance system and determine the relative angle and the relative vertical range of means of transport base plate 57 and loading pocket base plate 85.If desired, AGV also determines relative position and the angle to access ramp 86.

Owing to have this relative position of the means of transport of determining by AGV 10 50, thereby AGV 10 can enter the means of transport 50 with the load 60 of being lifted the expectation height, when being in an angle with assurance AGV 10 on respect to means of transport base plate 57 stayed surface at angle, pallet does not contact means of transport base plate 57 or means of transport ceiling 58.Owing to have the load 60 that is in desired locations, AGV 10 can use leaning device 40 that one of elevating mechanism 18 or clamp forks carriage 17 are tilted.Also can comprise the inclination sensor (not shown), to determine the relative tilt of elevating mechanism 18 or clamp forks carriage 17.Figure 11-Figure 19 illustrates the elevating mechanism 18 of inclination, yet as one of ordinary skill will recognize, elevating mechanism 18 can be maintained fixed when clamp forks carriage 17 tilts.By elevating mechanism 18 or clamp forks carriage 17 tilted, AGV 10 can compensate poor between the stayed surface of the surface-supported related angle of AGV and pallet 60.This compensation allow AGV with payload security be placed on the means of transport base plate 57 and then remove clamp forks 16 with least interference, removed interference in fact from thereby remove clamp forks 16, so load 60 produces essence and moves from the position from pallet bag 74.

When placing the load 60 of means of transport 50, great relative angle between the relative position of stayed surface means of transport 50 outsides or the AGV 10 of part in means of transport 50 and means of transport base plate 57 may need repeatedly to regulate in make elevating mechanism 18 or clamp forks carriage 17 tilting procedures by incline structure 40.Especially, for example have the high capacity in minimum gap for means of transport ceiling 58, the AGV of the collaborative longitudinal axis along means of transport moves the repeatedly angular adjustment that may need leaning device 40.For example, when AGV 10 enters means of transport 50, may need leaning device 40 to work in coordination with and tilt to move (forward direction of especially collaborative AGV 10 moves).Therefore, for the load in minimum gap, thereby pallet 72 is made the approximate arc load of moving and is not engaged with means of transport ceiling 58 or means of transport base plate 57.Therefore, owing to AGV 10 extends in the means of transport forward, thereby the angle of leaning device 40 and load 60 increases, so the forward edge of pallet 72 does not contact means of transport base plate 57.Then, pallet 72 is placed in the desired locations on the means of transport base plate 57.Then, in the put procedure of load 60, clamp forks 16 is lowerd, and AGV is backwards to means of transport 50 outsides with its route direction.Owing in pallet bag 74, have a minimum gap, tilt thereby also increase ground in AGV general clamp forks 16 when means of transport is gone out, do not engage with assurance clamp forks 16 with pallet bag 74.In case clamp forks 16 and pallet bag 74 are broken away from substantially, thereby AGV can continue to turn back to position A, returns incline structure 40 simultaneously, especially one of elevating mechanism 18 and clamp forks carriage 17 turn back to the position of its perpendicular.

As mentioned above, controller on the AGV or system controller can be measured the relative angle of AGV stayed surface and means of transport base plate 57, thereby when determining AGV turnover means of transport 50 load 60 or clamp forks 16 needed inclinations and, if desired, clamp forks 16 is along with mobile carry out collaborative of AGV moved.When AGV 10 loads the opening 52 of means of transport 50, guaranteed successfully and effectively to take place the nearest load of end loading opening of means of transport 50 like this, and prevented the skew or the misalignment of load placed.As shown in the figure, said system also can be reversed to improve the unloading of means of transport 50.Especially, when AGV extends to its clamp forks 16 in pallet bag 74 at least the first load 60 at the opening 52 of means of transport 50 or place, end, AGV can use the relative position of definite means of transport 50, to use leaning device 40 to aim at clamp forks 16, therefore prevent the interference of the clamp forks in the pallet bag 74.When clamp forks 16 entered pallet bag 74, AGV also can work in coordination with moving of these clamp forks 16, thus when guaranteeing that AGV moves forward clamp forks 16 not contact set shelve 72.Expectation is measured when loading loaded means of transport 50 at position A place when sensor 100, and sensor will need to measure means of transport ceiling 58, this be since load 60 may with 57 interference mutually of measurement means of transport base plate.Certainly, in certain embodiments, sensor can be placed on loading pocket portion or to extend to the loading facility of 87 tops, motor vehicle load zone outside and determine the relative position of means of transport 50 outdoors, thereby eliminate the needs of each AGV10 scanning means of transport.Be positioned at facility and be not positioned at sensor 100 on the AGV 10 also can measure means of transport 50 base plates or ceiling in the lump with measured communicating by letter with AGV or system controller.Can use these external scan devices to communicate by letter with central processing unit, this can determine means of transport with respect to the position of loading pocket facility and upgrade the AGV with essential information, suitably to place the load nearest apart from opening 52 of load and loading and unloading.

In some instances, means of transport does not have sidewall, but is flat board when AGV is loaded into load on the means of transport.In these cases, deckle edge really between the plate that AGV can the sensing means of transport or base plate and the rapid decline earthward.Therefore, AGV may be configured to scan not existing of trailer side walls.

Above-mentioned discussion discloses and describes illustrative examples of the present invention.Those of ordinary skills will be easily discuss neutralization identification from accompanying drawing and claim from these and can do various variations, modification and variation and not break away from real spirit and scope of the present invention that claim limited as hereinafter the present invention.

Claims

1. method of loading means of transport with sidewall and opening by automatic guided vehicle (AGV), this method comprises:

Load is engaged with described AGV;

The described AGV that will have guidance system directs into position A, and wherein this position A is positioned at described means of transport outside;

The expectation stowage position that is identified on described means of transport is piled up the transportation route of described load;

By described guidance system described AGV is directed into described expectation " loaded " position along the described transportation route of determining;

When described AGV travels along the described transportation route of determining, determine the position of the described relatively means of transport of described AGV; And

Described load is stacked into described expectation stowage position on the described means of transport.

2. method according to claim 1 wherein is identified for also comprising the step of profile of describing the inside of described means of transport with sensor in the step that described expectation stowage position is piled up the transportation route of described load.

3. method according to claim 1, the step of wherein determining the position of the described relatively means of transport of described AGV comprise the step of profile of describing the inside of described means of transport with sensor.

4. method according to claim 3 determines that wherein the step of the position of the described relatively means of transport of described AGV is to carry out with regular intervals.

5. method according to claim 4, the described regular intervals of wherein discontinuous execution.

6. described regular intervals wherein takes place 30 times with per second in method according to claim 4 approximately.

7. method according to claim 3, wherein said sensor are positioned at described AGV at a distance.

8. method according to claim 3, wherein said sensor is positioned on the described AGV.

9. method according to claim 3, wherein the step of guiding described AGV along the described transportation route of determining also comprises the steps, when described AGV travels along the described transportation route of determining, the data that use receives during the step of the profile of the inside of describing described means of transport are determined the arbitrary deviation with the described transportation route of determining.

10. method according to claim 9 also comprises the steps, in response to determining in the step of determining with the arbitrary deviation of the described transportation route of determining that deviation proofreaies and correct the described driving path of described AGV, to mate definite described transportation route.

11. method according to claim 1, also comprise when described AGV by along the described transportation route guiding determined the time, the step of a plurality of described sidewall that measures described means of transport distance one of at least.

12. method according to claim 1, wherein the step of definite transportation route comprises the step of the profile of the inside of using one of LADAR, laser, sound wave or optical sensor to describe described means of transport.

13. method according to claim 1 also comprises when described AGV is guided along the described transportation route of determining the step at the described edge of the base plate of the described means of transport of sensing.

14. method according to claim 13 also comprises the step of at least once upgrading the described profile of described means of transport when described AGV is on described means of transport, but update times is not higher than per second 35 times.

15. a method of loading the means of transport with sidewall and opening by automatic guided vehicle (AGV), this method comprises:

Load is engaged with described AGV;

The described AGV that will have the preliminary leading system directs into the position of the described opening outside that is positioned at described means of transport;

Describe the profile of the described opening of described at least means of transport;

Determine that described AGV passes the driving path of the opening of described means of transport from the described position of described means of transport outside;

Described AGV in the described means of transport is directed into " loaded " position on the described means of transport, and when the described " loaded " position that described AGV directed in the described means of transport, at least once describe the profile of described means of transport inside; And

Described AGV in the described means of transport is directed into the position of the described opening outside of described means of transport from described " loaded " position.

16. method according to claim 15, the step of wherein determining driving path also are included in the step of the profile of the inside of describing described means of transport before the described opening of described AGV through described means of transport.

17. method according to claim 15, wherein the step of the described AGV of guiding is to be carried out by second guidance system in described means of transport.

18. method according to claim 15, wherein the step of the described AGV of guiding is to be carried out by described preliminary leading system in described means of transport.

19. method according to claim 15, wherein the step of the described AGV of guiding also comprises and uses sensor to obtain distance with at least one sidewall in described means of transport, uses described sensor to determine the step of any barrier in the described driving path of described AGV simultaneously.

20. method according to claim 15, the step that wherein the described AGV in the described means of transport is directed into the expectation " loaded " position comprise the step of proofreading and correct with the arbitrary deviation of the described expectation transportation route of being determined by the described profile of described means of transport.

21. method according to claim 20, wherein the step of the described AGV of guiding also comprises the steps in described means of transport, when described preliminary leading system expects that described AGV and the described transportation route of determining substantially on time, upgrade the described profile in the described means of transport.

22. the step of the profile of described means of transport wherein takes place once to describe, but is lower than about per second 35 times in method according to claim 15 at least in means of transport.

23. method according to claim 15 also comprises the step when described AGV described edge of the described means of transport base plate of sensing by along the described transportation route guiding determined the time.